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/* Author: Wim Meeussen */

#include <string>
#include <gtest/gtest.h>
#include "ros/ros.h"
#include "nav_msgs/Odometry.h"
#include "geometry_msgs/PoseWithCovarianceStamped.h"

#include <boost/thread.hpp>

using namespace ros;

int    g_argc;
char **g_argv;

typedef boost::shared_ptr<geometry_msgs::PoseWithCovarianceStamped const> EkfConstPtr;

class TestEKF : public testing::Test
{
public:
    NodeHandle      node_;
    ros::Subscriber ekf_sub_;
    double          ekf_counter_;

    void EKFCallback(const EkfConstPtr &ekf)
    {
        // count number of callbacks
        ekf_counter_++;
    }

protected:
    /// constructor
    TestEKF() { ekf_counter_ = 0; }

    /// Destructor
    ~TestEKF() {}
};

TEST_F(TestEKF, test)
{
    ROS_INFO("Subscribing to robot_pose_ekf/odom_combined");
    ekf_sub_ = node_.subscribe("/robot_pose_ekf/odom_combined", 10, &TestEKF::EKFCallback, (TestEKF *)this);

    // wait for 20 seconds
    ROS_INFO("Waiting for 20 seconds while bag is playing");
    ros::Duration(20).sleep();
    ROS_INFO("End time reached");

    EXPECT_EQ(ekf_counter_, 0);

    SUCCEED();
}

int main(int argc, char **argv)
{
    testing::InitGoogleTest(&argc, argv);
    g_argc = argc;
    g_argv = argv;

    init(g_argc, g_argv, "testEKF");

    boost::thread spinner(boost::bind(&ros::spin));

    int res = RUN_ALL_TESTS();
    spinner.interrupt();
    spinner.join();

    return res;
}
